Beidou-based personnel and equipment positioning device and method

Abstract

The present invention relates to the technical field of navigation and positioning, and discloses a Beidou-based personnel and equipment positioning device and method thereof. First, the positions of Beidou satellites and ground base stations are obtained, and the pseudo-range difference method is used to calculate the pseudo-range from the Beidou positioning device to the ground base station, and the pseudo-range is used to correct the initial position of the Beidou positioning device; secondly, the positions of personnel and equipment and the movement trajectories of personnel and equipment are constrained, and the positions of personnel and equipment that do not meet the threshold are deleted; then the wave search algorithm is used to optimize and adjust the constrained positions of personnel and equipment, and the final positions of personnel and equipment are obtained by finding the optimal fitness function value; finally, a Beidou positioning database and a Beidou positioning platform are constructed to store and query personnel and equipment related information. The present invention achieves the purpose of personnel and equipment positioning by continuously correcting and optimizing the positions of personnel and equipment, and the method is accurate and objective.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation and positioning, and in particular to a Beidou-based personnel and equipment positioning device and method. Background Art

[0002] Chinese patent application CN113608248A discloses a high-precision inspection personnel positioning method and related equipment integrated with Beidou 5G. The method specifically includes: obtaining original precise orbit and clock error data; inputting the original precise orbit and clock error data into a pre-trained quadratic polynomial periodic term function model, and obtaining the fitting value, trend term and periodic term of the precise orbit and clock error data through fitting processing; then using a predetermined machine learning algorithm to fit and predict the residual between the fitting value and the original precise orbit and clock error data to obtain a residual prediction value; using a predetermined machine learning algorithm to calculate the residual prediction value, trend term and periodic term to obtain real-time precise orbit and clock error data, and transmitting the real-time precise orbit and clock error data to the positioning terminal carried by the inspection personnel; then obtaining the original satellite observation data obtained by the positioning terminal; inputting the original satellite observation data and the real-time precise orbit and clock error data into the satellite multi-frequency data fusion model to obtain the three-dimensional coordinate value of the inspection personnel, and complete the inspection personnel positioning. This method does not process the data, and there is an error in positioning accuracy.

[0003] Traditional personnel and equipment positioning methods may pose a threat to personnel's life safety because the positioning information of the personnel's area may be inaccurate; at the same time, the positioning information cannot be updated in real time, and it is impossible to achieve comprehensive control of the operators' behavior. At the same time, under different operating tasks, the traditional personnel and equipment positioning methods are not portable, which leads to safety accidents. Summary of the invention

[0004] In response to the problems in the related technology, the present invention provides a Beidou-based personnel and equipment positioning device and method to overcome the above-mentioned technical problems existing in the existing related technology.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention is a Beidou-based personnel and equipment positioning method, comprising the following steps:

[0007] S1. Obtain the positions of Beidou satellites and ground base stations, use the pseudo-range difference method to calculate the pseudo-range from the Beidou positioning device to the ground base station, and then use the Chan algorithm to obtain the initial position of the Beidou positioning device. Correct the initial position of the Beidou positioning device according to the pseudo-range from the Beidou positioning device to the ground base station to obtain the corrected personnel and equipment position;

[0008] S2, generating a movement trajectory of personnel and equipment from the corrected personnel and equipment positions, constraining the personnel and equipment positions and the movement trajectory of personnel and equipment, and setting a violation degree, deleting the corrected personnel and equipment positions corresponding to the violation degree not meeting the threshold, and obtaining the constrained personnel and equipment positions;

[0009] S3, obtaining a fitness function based on the personnel and equipment positioning constraint conditions, using a wave search algorithm to optimize and adjust the personnel and equipment positions after the constraints, and obtaining the final personnel and equipment positions by finding the best fitness function value;

[0010] S4. Build a Beidou positioning database and Beidou positioning platform to store information related to personnel and equipment, and query the current location and movement trajectory of personnel and equipment.

[0011] The invention obtains the positions of Beidou satellites and ground base stations, calculates the pseudo-distance from Beidou satellites to ground base stations and the pseudo-distance correction value from Beidou positioning equipment to Beidou satellites according to the positioning error, and uses the pseudo-distance correction value to correct the initial position of Beidou positioning equipment to obtain the corrected personnel and equipment positions; this method effectively reduces the influence of Beidou interference factors and improves Beidou positioning accuracy; secondly, constrains the positions of personnel and equipment and the movement trajectories of personnel and equipment to obtain constraint conditions, and deletes the positions of personnel and equipment that do not meet the threshold on the movement trajectories of personnel and equipment; the constraint conditions can determine the error within a range, which is convenient for establishing a fitness function; then the constraint conditions are used to obtain the fitness function, and the wave search algorithm is used to optimize and adjust the constrained personnel and equipment positions, and by simulating the process of transmitting, reflecting and receiving waves during the working process of the radar, the electromagnetic wave particle position corresponding to the best fitness function value is found to achieve position optimization and adjustment; the algorithm has strong applicability, flexibility and efficiency; finally, a Beidou positioning database is constructed to store personnel and equipment related information, a Beidou positioning platform is constructed, and queries on the current positions of personnel and equipment and the movement trajectories of personnel and equipment are provided.

[0012] Preferably, the S1 comprises the following steps:

[0013] S11. Set Beidou satellite i The coordinates are , ground base station j The coordinates are , Beidou satellite to ground base station j The pseudo distance is , Beidou satellite to ground base station j The geometric distance is , c represents the speed of light, and the distance error between the clock time of the ground base station and the standard time is , the distance error between the Beidou satellite clock time and the standard time is , the time delay distance error of electromagnetic waves passing through the atmospheric ionosphere is , the time delay distance error of electromagnetic waves passing through the atmospheric stratosphere is , the observation noise of the ground base station is , then Beidou satellite to ground base station j The pseudo-distance calculation formula is as follows:

[0014] ;

[0015] The BeiDou satellite i To ground base station j Pseudorange and BeiDou satellite i To the ground base station j The difference in geometric distance is recorded as the Beidou positioning distance error, and the coordinates of the Beidou positioning device are set to , ground base station j The corresponding distance weight is , then Beidou positioning equipment and ground base stations j The distance calculation formula is as follows:

[0016] ;

[0017] in, Indicates Beidou positioning equipment and ground base stations j distance;

[0018] Set the number of ground base stations near the Beidou positioning device to , then the Beidou positioning device to the Beidou satellite i The pseudo-range correction value calculation formula is as follows:

[0019] , ;

[0020] in, Beidou satellite i To ground base station j Pseudorange and BeiDou satellite i To ground base station j Beidou positioning distance error of geometric distance, A Indicates Beidou positioning device to Beidou satellite i Pseudorange correction value of ;

[0021] S12, using the Beidou positioning device to Beidou satellite i The pseudo-range correction value of the Beidou positioning device to the ground base station j The pseudo distance is corrected and the Beidou positioning device is set to the ground base station j The pseudo distance is , Beidou positioning equipment to ground base station jThe geometric distance is , the distance error between the clock time of the Beidou positioning device and the standard time is , the observation noise of Beidou positioning equipment is , then the Beidou positioning device to the ground base station j The pseudo-distance calculation formula is as follows:

[0022] ;

[0023] Use the Chan algorithm to get the initial position of the Beidou positioning device, and then use the Beidou positioning device to the ground base station j The pseudo distance is used to correct the error of the initial position of the Beidou positioning device to obtain the corrected personnel and equipment position. The specific steps are as follows:

[0024] S121, calculate Beidou positioning equipment to nearby The signal arrival time of the ground base station is based on the Beidou positioning device to the nearby The time difference is calculated based on the signal arrival time of the ground base stations, a time difference equation is constructed according to the time difference, and the time difference equation is solved using the Chan algorithm to obtain the initial position of the Beidou positioning device;

[0025] S122, setting the error value of the initial position of the Beidou positioning device; placing the Beidou positioning device to the ground base station j The pseudo-distance is Taylor expanded at the initial position of the Beidou positioning device, and the error equation is constructed using the least squares method after partial derivative processing to obtain the error matrix. The calculation formula is as follows:

[0026] ;

[0027] in, Indicates the error value of the initial position of the Beidou positioning device. B represents the error matrix, represents the transpose of the error matrix, represents the eigenvalue matrix of the error matrix;

[0028] According to the error value of the initial position of the Beidou positioning device and combined with the initial position of the Beidou positioning device, the corrected position of personnel and equipment is obtained.

[0029] This invention obtains the positions of Beidou satellites and ground base stations, calculates the pseudo-distance from Beidou satellites to ground base stations based on the positioning error, then calculates the pseudo-distance correction value from Beidou positioning equipment to Beidou satellites, uses the Chan algorithm to obtain the initial position of the Beidou positioning equipment, and uses the pseudo-distance correction value to correct the initial position of the Beidou positioning equipment; this method can reduce interference and improve Beidou positioning accuracy.

[0030] Preferably, S2 comprises the following steps:

[0031] S21, generating a movement trajectory of personnel and equipment according to the corrected position of personnel and equipment, selecting a The corrected personnel and equipment positions are set on the movement trajectory of the personnel and equipment. The location of the Beidou positioning device is , then constrain the positions of personnel and equipment, and obtain the constraints of personnel and equipment positions. The calculation formula is as follows:

[0032] ;

[0033] in, Indicates Corrected personnel and equipment positions, Indicates the maximum error value;

[0034] According to the movement trajectory of the personnel and equipment, a curve function is obtained by fitting, and the corrected position of the personnel and equipment is selected in the movement trajectory of the personnel and equipment, which is recorded as , constrain the movement trajectory of personnel and equipment, and obtain the movement trajectory constraint conditions of personnel and equipment. The calculation formula is as follows:

[0035] ;

[0036] in, Indicates the deviation in the x-axis direction in the three-dimensional coordinate system. Indicates the deviation in the y-axis direction in the three-dimensional coordinate system. Indicates the deviation in the z-axis direction in the three-dimensional coordinate system. , and represents a curve function;

[0037] S22, combining the constraints of the personnel and equipment positions and the movement trajectories of the personnel and equipment, determining the boundaries of the movement trajectories of the personnel and equipment, and setting the upper and lower limits of the Beidou satellite constraints to be and , the corrected personnel and equipment positions are d， A violation degree is set for the corrected personnel and equipment positions that exceed the upper and lower limits of the Beidou satellite constraints; when the corrected personnel and equipment positions are greater than the upper limit of the Beidou satellite constraints, the violation degree is ; When the corrected personnel and equipment position is less than or equal to the upper limit of the Beidou satellite constraint and greater than or equal to the lower limit of the Beidou satellite constraint, the violation degree ; When the corrected personnel and equipment position is less than the lower limit of the Beidou satellite constraint, the degree of violation ;

[0038] Set the violation threshold to , the corrected personnel and equipment positions corresponding to the violation degree greater than the violation degree threshold are deleted to obtain the constrained personnel and equipment positions.

[0039] The invention constrains the positions of personnel and equipment and the movement trajectories of personnel and equipment to obtain constraint conditions, calculate the degree of violation, delete the positions of personnel and equipment on the movement trajectories of personnel and equipment that do not meet the violation threshold, and determine the error within a range. The constraint conditions facilitate the establishment of a fitness function.

[0040] Preferably, S3 comprises the following steps:

[0041] S31, setting the distance from the constrained personnel equipment position to the personnel equipment position to be e , according to the constraints of personnel and equipment positions and the distance between personnel and equipment positions after constraints, the fitness function is obtained, and the calculation formula is as follows:

[0042] ;

[0043] The fitness function uses a wave search algorithm to find the final electromagnetic wave particle position corresponding to the best fitness function value under the constraints of the movement trajectory of personnel and equipment. The specific steps are as follows:

[0044] S311, set the number of electromagnetic wave particles to , the number of personnel and equipment positions after constraints is equal to the number of electromagnetic wave particles, and the dimension of electromagnetic wave particles is , generate the electromagnetic wave particle matrix in the search space D as follows:

[0045] ;

[0046] in, Indicates The dimensions are The position of electromagnetic wave particles;

[0047] Set h The upper bound of the search space for electromagnetic wave particles is , No. h The upper bound of the search space for electromagnetic wave particles is , represents a random number and , initialize the position of the electromagnetic wave particle and obtain the initial position of the electromagnetic wave particle , the calculation formula is as follows:

[0048] ;

[0049] The electromagnetic wave particles iterate in different dimensions to find the best fitness function value, and optimize and adjust the electromagnetic wave particle position corresponding to the best fitness function value, that is, the constrained personnel and equipment position;

[0050] S312, electromagnetic wave particles in the global exploration stage, set h The vector composed of the minimum values ​​of electromagnetic wave particles in each dimension in the electromagnetic wave particle matrix is , No. h The vector composed of the maximum values ​​of each dimension of an electromagnetic wave particle in the electromagnetic wave particle matrix is , represents a random number and , update the initial position of the electromagnetic wave particle to obtain the electromagnetic wave particle position , the calculation formula is as follows:

[0051] ;

[0052] Calculate the fitness function values ​​of all electromagnetic wave particles, get the average fitness function values ​​of all electromagnetic wave particles, and calculate the position of electromagnetic wave particles The fitness function value at the location where the electromagnetic wave particle is located is greater than or equal to the fitness function value at the location where the electromagnetic wave particle is located. When the fitness function value at is reached, the initial position of the electromagnetic wave particle is updated; otherwise, the initial position of the electromagnetic wave particle is not updated; at this time, the constrained personnel and equipment positions are updated synchronously;

[0053] S313, electromagnetic wave particles in the local development stage, set the current number of iterations to l , the maximum number of iterations is L , No. l The optimal position of the electromagnetic wave particle in the iteration is , Represents a column vector that obeys a normal distribution. The electromagnetic wave particle position and the optimal position of the electromagnetic wave particle are reordered according to their proximity to obtain the sorted electromagnetic wave particle position , the electromagnetic wave control coefficient is , for the position of electromagnetic wave particles Update to get the position of electromagnetic wave particles , the calculation formula is as follows:

[0054] , ;

[0055] Calculate the l The optimal fitness function value of the electromagnetic wave particle and the position of the electromagnetic wave particle in the iteration At the fitness function value, when the lThe optimal fitness function value of the electromagnetic wave particle in the iteration is greater than the electromagnetic wave particle position When the fitness function value is Otherwise, the electromagnetic wave particle position will not be updated. Make updates;

[0056] Set the step factor to , the electromagnetic wave particle gradient is , the electromagnetic wave particle is reflected, and the position of the electromagnetic wave particle is Update to get the position of electromagnetic wave particles ; After the electromagnetic wave particles are reflected, the electromagnetic wave particles are received again, and the receiving coefficient is set to , the optimal position of the current electromagnetic wave particle is recorded as , continuously iterate the optimal position of the electromagnetic wave particle according to the receiving coefficient, and when the current number of iterations reaches the maximum number of iterations, stop the iteration to obtain the final electromagnetic wave particle position;

[0057] S32. Under the constraints of the movement trajectory of personnel and equipment, the final electromagnetic wave particle position is the final personnel and equipment position, which realizes the optimization adjustment of the personnel and equipment position after the constraints, and completes the positioning of personnel and equipment.

[0058] This invention establishes a fitness function and uses a wave search algorithm to optimize and adjust the constrained positions of personnel and equipment. By simulating the process of transmitting, reflecting and receiving waves during the operation of the radar, the optimal fitness function value is found, thereby finding the corresponding positions of personnel and equipment. This algorithm has strong applicability, and is flexible and efficient.

[0059] Preferably, S4 comprises the following steps:

[0060] S41, construct a Beidou positioning database, store the final personnel equipment position in the Beidou positioning database, the Beidou positioning database includes personnel information and equipment information; the personnel information includes personnel number, personnel Beidou positioning equipment account, personnel historical position and personnel current position; the equipment information includes equipment number, equipment name, equipment historical position and equipment current position; personnel access the Beidou positioning database to view personnel information and equipment information;

[0061] S42, construct a Beidou positioning platform, upload the final personnel equipment location to the server, set a secret key, use the secret key to match personnel information, and the server provides personnel equipment current location and personnel equipment movement trajectory query.

[0062] The present invention also discloses a Beidou-based personnel and equipment positioning method device, which specifically includes: a pseudo-range differential correction position module, a personnel and equipment constraint module, a personnel and equipment position optimization adjustment module, and a database and platform establishment module;

[0063] The pseudo-range difference correction position module is used to calculate the personnel equipment position using the pseudo-range difference method and construct an error matrix for correction;

[0064] The personnel and equipment constraint module is used to establish equations to constrain the positions and movement trajectories of personnel and equipment;

[0065] The personnel and equipment position optimization and adjustment module is used to optimize and adjust the constrained personnel and equipment positions using a wave search algorithm;

[0066] The database and platform establishment module is used to build the Beidou positioning database and Beidou positioning platform.

[0067] The present invention has the following beneficial effects:

[0068] 1. This invention calculates the pseudo-range from the Beidou satellite to the ground base station and the pseudo-range correction value from the Beidou positioning device to the Beidou satellite, and uses the pseudo-range difference method to reduce the satellite signal propagation error and improve the positioning accuracy.

[0069] 2. The invention obtains the initial position of the Beidou positioning device by using the Chan algorithm, and uses the pseudo-range correction value to correct the initial position of the Beidou positioning device. This method can reduce interference and further improve positioning accuracy.

[0070] 3. The invention constrains the positions of personnel and equipment and the movement trajectories of personnel and equipment to obtain constraint conditions, deletes the positions of personnel and equipment on the movement trajectories of personnel and equipment that do not meet the threshold, and determines the error within a range. The constraint conditions facilitate the establishment of a fitness function.

[0071] 4. The invention establishes a fitness function and uses a wave search algorithm to optimize and adjust the constrained positions of personnel and equipment. By finding the optimal fitness function value, the corresponding personnel and equipment positions are found. The algorithm has strong applicability, flexibility and efficiency.

[0072] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] In order to more clearly illustrate the technical solutions of the embodiments of the invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, they can also obtain drawings based on these drawings without paying creative work.

[0074] Figure 1 A schematic diagram of the process of positioning personnel and equipment by the Beidou-based personnel and equipment positioning device provided by the present invention. DETAILED DESCRIPTION

[0075] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0076] In the description of the present invention, it is necessary to understand that the terms "opening", "upper", "lower", "top", "middle", "inside" and the like indicating orientation or positional relationship are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention.

[0077] Example 1

[0078] The present invention is a Beidou-based personnel and equipment positioning method, comprising the following steps:

[0079] S1. Obtain the positions of Beidou satellites and ground base stations, use the pseudo-range difference method to calculate the pseudo-range from the Beidou positioning device to the ground base station, and then use the Chan algorithm to obtain the initial position of the Beidou positioning device. Correct the initial position of the Beidou positioning device according to the pseudo-range from the Beidou positioning device to the ground base station to obtain the corrected personnel and equipment position;

[0080] The S1 comprises the following steps:

[0081] S11. Set Beidou satellite i The coordinates are , ground base station j The coordinates are , Beidou satellite to ground base station j The pseudo distance is , Beidou satellite to ground base station j The geometric distance is , c represents the speed of light, and the distance error between the clock time of the ground base station and the standard time is , the distance error between the Beidou satellite clock time and the standard time is , the time delay distance error of electromagnetic waves passing through the atmospheric ionosphere is , the time delay distance error of electromagnetic waves passing through the atmospheric stratosphere is , the observation noise of the ground base station is , then Beidou satellite to ground base station j The pseudo-distance calculation formula is as follows:

[0082] ;

[0083] The BeiDou satellite i To ground base station j Pseudorange and BeiDou satellite i To ground base station j The difference in geometric distance is recorded as the Beidou positioning distance error, and the coordinates of the Beidou positioning device are set to , ground base station j The corresponding distance weight is , then Beidou positioning equipment and ground base stations j The distance calculation formula is as follows:

[0084] ;

[0085] in, Indicates Beidou positioning equipment and ground base stations j distance;

[0086] Set the number of ground base stations near the Beidou positioning device to , then the Beidou positioning device to the Beidou satellite i The pseudo-range correction value calculation formula is as follows:

[0087] , ;

[0088] in, Beidou satellite i To ground base station j Pseudorange and BeiDou satellite i To ground base station j Beidou positioning distance error of geometric distance, A Indicates Beidou positioning device to Beidou satellite i Pseudorange correction value of ;

[0089] S12, using the Beidou positioning device to Beidou satellite i The pseudo-range correction value of the Beidou positioning device to the ground base station j The pseudo distance is corrected and the Beidou positioning device is set to the ground base station j The pseudo distance is , Beidou positioning equipment to ground base station j The geometric distance is , the distance error between the clock time of the Beidou positioning device and the standard time is , the observation noise of Beidou positioning equipment is , then the Beidou positioning device to the ground base station j The pseudo-distance calculation formula is as follows:

[0090] ;

[0091] Use the Chan algorithm to get the initial position of the Beidou positioning device, and then use the Beidou positioning device to the ground base station j The pseudo distance is used to correct the error of the initial position of the Beidou positioning device to obtain the corrected personnel and equipment position. The specific steps are as follows:

[0092] S121, calculate Beidou positioning equipment to nearby The signal arrival time of the ground base station is based on the Beidou positioning device to the nearby The time difference is calculated based on the signal arrival time of the ground base stations, a time difference equation is constructed according to the time difference, and the time difference equation is solved using the Chan algorithm to obtain the initial position of the Beidou positioning device;

[0093] S122, setting the error value of the initial position of the Beidou positioning device; placing the Beidou positioning device to the ground base station j The pseudo-distance is Taylor expanded at the initial position of the Beidou positioning device, and the error equation is constructed using the least squares method after partial derivative processing to obtain the error matrix. The calculation formula is as follows:

[0094] ;

[0095] in, Indicates the error value of the initial position of the Beidou positioning device. B represents the error matrix, represents the transpose of the error matrix, represents the eigenvalue matrix of the error matrix;

[0096] According to the error value of the initial position of the Beidou positioning device, combined with the initial position of the Beidou positioning device, the corrected position of the personnel and equipment is obtained;

[0097] S2, generating a movement trajectory of personnel and equipment from the corrected personnel and equipment positions, constraining the personnel and equipment positions and the movement trajectory of personnel and equipment, and setting a violation degree, deleting the corrected personnel and equipment positions corresponding to the violation degree not meeting the threshold, and obtaining the constrained personnel and equipment positions;

[0098] The S2 comprises the following steps:

[0099] S21, generating a movement trajectory of personnel and equipment according to the corrected position of personnel and equipment, selecting a The corrected personnel and equipment positions are set on the movement trajectory of the personnel and equipment. The location of the Beidou positioning device is , then constrain the positions of personnel and equipment, and obtain the constraints of personnel and equipment positions. The calculation formula is as follows:

[0100] ;

[0101] in, Indicates Corrected personnel and equipment positions, Indicates the maximum error value;

[0102] According to the movement trajectory of the personnel and equipment, a curve function is obtained by fitting, and the corrected position of the personnel and equipment is selected in the movement trajectory of the personnel and equipment, which is recorded as , constrain the movement trajectory of personnel and equipment, and obtain the movement trajectory constraint conditions of personnel and equipment. The calculation formula is as follows:

[0103] ;

[0104] in, Indicates the deviation in the x-axis direction in the three-dimensional coordinate system. Indicates the deviation in the y-axis direction in the three-dimensional coordinate system. Indicates the deviation in the z-axis direction in the three-dimensional coordinate system. , and represents a curve function;

[0105] S22, combining the constraints of the personnel and equipment positions and the movement trajectories of the personnel and equipment, determining the boundaries of the movement trajectories of the personnel and equipment, and setting the upper and lower limits of the Beidou satellite constraints to be and , the corrected personnel and equipment positions are d， A violation degree is set for the corrected personnel and equipment positions that exceed the upper and lower limits of the Beidou satellite constraints; when the corrected personnel and equipment positions are greater than the upper limit of the Beidou satellite constraints, the violation degree is ; When the corrected personnel and equipment position is less than or equal to the upper limit of the Beidou satellite constraint and greater than or equal to the lower limit of the Beidou satellite constraint, the violation degree ; When the corrected personnel and equipment position is less than the lower limit of the Beidou satellite constraint, the degree of violation ;

[0106] Set the violation threshold to , deleting the corrected personnel and equipment positions corresponding to the violation degree being greater than the violation degree threshold, and obtaining the constrained personnel and equipment positions;

[0107] S3, obtaining a fitness function based on the personnel and equipment positioning constraint conditions, using a wave search algorithm to optimize and adjust the personnel and equipment positions after the constraints, and obtaining the final personnel and equipment positions by finding the best fitness function value;

[0108] The S3 comprises the following steps:

[0109] S31, setting the distance from the constrained personnel equipment position to the personnel equipment position to be e , according to the constraints of personnel and equipment positions and the distance between personnel and equipment positions after constraints, the fitness function is obtained, and the calculation formula is as follows:

[0110] ;

[0111] The fitness function uses a wave search algorithm to find the final electromagnetic wave particle position corresponding to the best fitness function value under the constraints of the movement trajectory of personnel and equipment. The specific steps are as follows:

[0112] S311, set the number of electromagnetic wave particles to , the number of personnel and equipment positions after constraints is equal to the number of electromagnetic wave particles, and the dimension of electromagnetic wave particles is , generate the electromagnetic wave particle matrix in the search space D as follows:

[0113] ;

[0114] in, Indicates The dimensions are The position of electromagnetic wave particles;

[0115] Set h The upper bound of the search space for electromagnetic wave particles is , No. h The upper bound of the search space for electromagnetic wave particles is , represents a random number and , initialize the position of the electromagnetic wave particle and obtain the initial position of the electromagnetic wave particle , the calculation formula is as follows:

[0116] ;

[0117] The electromagnetic wave particles iterate in different dimensions to find the best fitness function value, and optimize and adjust the electromagnetic wave particle position corresponding to the best fitness function value, that is, the constrained personnel and equipment position;

[0118] S312, electromagnetic wave particles in the global exploration stage, set h The vector composed of the minimum values ​​of electromagnetic wave particles in each dimension in the electromagnetic wave particle matrix is , No. h The vector composed of the maximum values ​​of each dimension of an electromagnetic wave particle in the electromagnetic wave particle matrix is , represents a random number and , update the initial position of the electromagnetic wave particle to obtain the electromagnetic wave particle position , the calculation formula is as follows:

[0119] ;

[0120] Calculate the fitness function values ​​of all electromagnetic wave particles, get the average fitness function values ​​of all electromagnetic wave particles, and calculate the position of electromagnetic wave particles The fitness function value at the location where the electromagnetic wave particle is located is greater than or equal to the fitness function value at the location where the electromagnetic wave particle is located. When the fitness function value at is reached, the initial position of the electromagnetic wave particle is updated; otherwise, the initial position of the electromagnetic wave particle is not updated; at this time, the constrained personnel and equipment positions are updated synchronously;

[0121] S313, electromagnetic wave particles in the local development stage, set the current number of iterations to l , the maximum number of iterations is L , No. l The optimal position of the electromagnetic wave particle in the iteration is , Represents a column vector that obeys a normal distribution. The electromagnetic wave particle position and the optimal position of the electromagnetic wave particle are reordered according to their proximity to obtain the sorted electromagnetic wave particle position , the electromagnetic wave control coefficient is , for the position of electromagnetic wave particles Update to get the position of electromagnetic wave particles , the calculation formula is as follows:

[0122] , ;

[0123] Calculate the l The optimal fitness function value of the electromagnetic wave particle and the position of the electromagnetic wave particle in the iteration At the fitness function value, when the l The optimal fitness function value of the electromagnetic wave particle in the iteration is greater than the electromagnetic wave particle position When the fitness function value is Otherwise, the electromagnetic wave particle position will not be updated. Make updates;

[0124] Set the step factor to , the electromagnetic wave particle gradient is , the electromagnetic wave particle is reflected, and the position of the electromagnetic wave particle is Update to get the position of electromagnetic wave particles ; After the electromagnetic wave particles are reflected, the electromagnetic wave particles are received again, and the receiving coefficient is set to , the optimal position of the current electromagnetic wave particle is recorded as , continuously iterate the optimal position of the electromagnetic wave particle according to the receiving coefficient, and when the current number of iterations reaches the maximum number of iterations, stop the iteration to obtain the final electromagnetic wave particle position;

[0125] S32. Under the condition of the movement trajectory of personnel and equipment constraints, the final electromagnetic wave particle position is the final personnel and equipment position, and the personnel and equipment positions after constraints are optimized and adjusted to complete the positioning of personnel and equipment;

[0126] S4. Build a Beidou positioning database and Beidou positioning platform to store personnel and equipment related information, and query the current location and movement trajectory of personnel and equipment;

[0127] The S4 comprises the following steps:

[0128] S41, construct a Beidou positioning database, store the final personnel equipment position in the Beidou positioning database, the Beidou positioning database includes personnel information and equipment information; the personnel information includes personnel number, personnel Beidou positioning equipment account, personnel historical position and personnel current position; the equipment information includes equipment number, equipment name, equipment historical position and equipment current position; personnel access the Beidou positioning database to view personnel information and equipment information;

[0129] S42, construct a Beidou positioning platform, upload the final personnel equipment location to the server, set a secret key, use the secret key to match personnel information, and the server provides personnel equipment current location and personnel equipment movement trajectory query.

[0130] Example 2

[0131] The present invention also discloses a Beidou-based personnel and equipment positioning method device, which specifically includes: a pseudo-range differential correction position module, a personnel and equipment constraint module, a personnel and equipment position optimization adjustment module, and a database and platform establishment module;

[0132] The pseudo-range difference correction position module is used to calculate the personnel equipment position using the pseudo-range difference method and construct an error matrix for correction;

[0133] The personnel and equipment constraint module is used to establish equations to constrain the positions and movement trajectories of personnel and equipment;

[0134] The personnel and equipment position optimization and adjustment module is used to optimize and adjust the constrained personnel and equipment positions using a wave search algorithm;

[0135] The database and platform establishment module is used to build the Beidou positioning database and Beidou positioning platform.

[0136] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0137] The preferred embodiments of the invention disclosed above are only used to help explain the invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the invention, so that those skilled in the art can understand and use the invention well.

Claims

1. A Beidou-based personnel and equipment positioning method, characterized in that: The steps include: S1. Obtain the positions of Beidou satellites and ground base stations, use the pseudo-range difference method to calculate the pseudo-range from the Beidou positioning device to the ground base station, and then use the Chan algorithm to obtain the initial position of the Beidou positioning device. Correct the initial position of the Beidou positioning device according to the pseudo-range from the Beidou positioning device to the ground base station to obtain the corrected personnel and equipment position; S11, set the Beidou satellite and the ground base station, calculate the pseudo distance from the Beidou satellite to the ground base station, and then calculate the distance between the Beidou positioning device and the ground base station; use the pseudo distance from the Beidou satellite to the ground base station and the distance between the Beidou positioning device and the ground base station to obtain the pseudo distance correction value from the Beidou positioning device to the Beidou satellite; S12, after using the pseudo-distance correction value from the Beidou positioning device to the Beidou satellite to correct the pseudo-distance from the Beidou positioning device to the ground base station, use the Chan algorithm to obtain the initial position of the Beidou positioning device, and perform error correction on the initial position of the Beidou positioning device according to the pseudo-distance from the Beidou positioning device to the ground base station to obtain the corrected personnel equipment position; S2, generating a movement trajectory of personnel and equipment from the corrected personnel and equipment positions, constraining the personnel and equipment positions and the movement trajectory of personnel and equipment, and setting a violation degree, deleting the corrected personnel and equipment positions corresponding to the violation degree not meeting the threshold, and obtaining the constrained personnel and equipment positions; S21, generating a movement trajectory of personnel and equipment according to the corrected position of personnel and equipment, constraining the position of personnel and equipment to obtain a constraint condition for the position of personnel and equipment; constraining the movement trajectory of personnel and equipment according to the movement trajectory of personnel and equipment to obtain a constraint condition for the movement trajectory of personnel and equipment; S22, determining the boundary of the movement trajectory of personnel and equipment, calculating the violation degree, and setting the violation degree threshold, deleting the corrected personnel and equipment positions corresponding to the violation degree greater than the violation degree threshold, and obtaining the constrained personnel and equipment positions; S3, obtaining a fitness function based on the personnel and equipment positioning constraint conditions, and then optimizing and adjusting the personnel and equipment positions after the constraints, and obtaining the final personnel and equipment positions by finding the best fitness function value; S31, setting the distance from the constrained personnel equipment position to the personnel equipment position to be e The maximum error value is , and get the fitness function ; The fitness function uses a wave search algorithm to find the final electromagnetic wave particle position corresponding to the best fitness function value under the constraints of the movement trajectory of personnel and equipment; S32. Under the condition of the movement trajectory of personnel and equipment constraints, the final electromagnetic wave particle position is the final personnel and equipment position, and the personnel and equipment positions after constraints are optimized and adjusted to complete the positioning of personnel and equipment; The method of using the wave search algorithm to find the final electromagnetic wave particle position corresponding to the best fitness function value comprises the following steps: Set the number of electromagnetic wave particles to , the number of personnel and equipment positions after constraints is equal to the number of electromagnetic wave particles, and the dimension of electromagnetic wave particles is , generating an electromagnetic wave particle matrix in the search space; Set h The upper bound of the search space for electromagnetic wave particles is , No. h The upper bound of the search space for electromagnetic wave particles is , represents a random number and , initialize the position of the electromagnetic wave particle and obtain the initial position of the electromagnetic wave particle , the calculation formula is as follows: ; The electromagnetic wave particles iterate in different dimensions to find the best fitness function value, and optimize and adjust the electromagnetic wave particle position corresponding to the best fitness function value, that is, the constrained personnel and equipment position; In the global exploration phase, the electromagnetic wave particle sets h The vector composed of the minimum values ​​of electromagnetic wave particles in each dimension in the electromagnetic wave particle matrix is , No. h The vector composed of the maximum values ​​of each dimension of an electromagnetic wave particle in the electromagnetic wave particle matrix is , represents a random number and , update the initial position of the electromagnetic wave particle to obtain the electromagnetic wave particle position , the calculation formula is as follows: ; Calculate the fitness function values ​​of all electromagnetic wave particles, get the average fitness function values ​​of all electromagnetic wave particles, and calculate the position of electromagnetic wave particles The fitness function value at the location where the electromagnetic wave particle is located is greater than or equal to the fitness function value at the location where the electromagnetic wave particle is located. When the fitness function value at is reached, the initial position of the electromagnetic wave particle is updated; otherwise, the initial position of the electromagnetic wave particle is not updated; at this time, the constrained personnel and equipment positions are updated synchronously; In the local development stage of electromagnetic wave particles, set the current number of iterations to l , the maximum number of iterations is L , No. l The optimal position of the electromagnetic wave particle in the iteration is , Represents a column vector that obeys the normal distribution. The electromagnetic wave particle position and the optimal position of the electromagnetic wave particle are reordered according to the degree of proximity to obtain the sorted electromagnetic wave particle position , the electromagnetic wave control coefficient is , for the position of electromagnetic wave particles Update to get the position of electromagnetic wave particles , the calculation formula is as follows: ; ; Calculate the l The optimal fitness function value of the electromagnetic wave particle and the position of the electromagnetic wave particle in the iteration At the fitness function value, when the l The optimal fitness function value of the electromagnetic wave particle in the iteration is greater than the electromagnetic wave particle position When the fitness function value is Make updates; Otherwise, the position of electromagnetic wave particles is not correct. Make updates; Set the step factor to , the electromagnetic wave particle gradient is , the electromagnetic wave particle is reflected, and the position of the electromagnetic wave particle is Update to get the position of electromagnetic wave particles ; After the electromagnetic wave particles are reflected, the electromagnetic wave particles are received again, and the receiving coefficient is set to , the optimal position of the current electromagnetic wave particle is recorded as , continuously iterate the optimal position of the electromagnetic wave particle according to the receiving coefficient, and when the current number of iterations reaches the maximum number of iterations, stop the iteration to obtain the final electromagnetic wave particle position; S4. Build a Beidou positioning database and Beidou positioning platform to store information related to personnel and equipment, and query the current location and movement trajectory of personnel and equipment.

2. The Beidou-based personnel and equipment positioning method according to claim 1, characterized in that: The S12 comprises the following steps: S121, calculating the time difference of the signal arrival time from the Beidou positioning device to the nearby ground base station, constructing a time difference equation according to the time difference, solving the time difference equation using the Chan algorithm, and obtaining the initial position of the Beidou positioning device; S122. Set the error value of the initial position of the Beidou positioning device, perform Taylor expansion on the pseudo-distance from the Beidou positioning device to the ground base station at the initial position of the Beidou positioning device, construct an error equation after partial derivative processing, generate an error matrix, and obtain the error value of the initial position of the Beidou positioning device. Combined with the initial position of the Beidou positioning device, the corrected personnel and equipment position is obtained.

3. The Beidou-based personnel and equipment positioning method according to claim 2, characterized in that: The calculation of violation degree comprises the following steps: Set the upper and lower limits of Beidou satellite constraints and the corrected positions of personnel and equipment, and calculate the degree of violation according to the different sizes of the upper and lower limits of Beidou satellite constraints and the corrected positions of personnel and equipment.

4. The Beidou-based personnel and equipment positioning method according to claim 3 is characterized in that: The S4 comprises the following steps: S41, constructing a Beidou positioning database, storing the final personnel and equipment positions in the Beidou positioning database, where the Beidou positioning database includes personnel information and equipment information; S42, constructing a Beidou positioning platform, uploading the final personnel and equipment location to a server, and the server providing personnel and equipment current location and personnel and equipment movement trajectory query.

5. A device for implementing the Beidou-based personnel and equipment positioning method as described in any one of claims 1 to 4, characterized in that: Specifically include: Pseudo-range differential correction position module, personnel and equipment constraint module, personnel and equipment position optimization adjustment module and database and platform establishment module; The pseudo-range difference correction position module is used to calculate the personnel equipment position using the pseudo-range difference method and construct an error matrix for correction; The personnel and equipment constraint module is used to establish equations to constrain the positions and movement trajectories of personnel and equipment; The personnel and equipment position optimization and adjustment module is used to optimize and adjust the constrained personnel and equipment positions using a wave search algorithm; The database and platform establishment module is used to build the Beidou positioning database and Beidou positioning platform.

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